Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles
Optimal needle trajectory selection is critical in biopsy procedures to minimize tissue damage and ensure diagnostic accuracy. Timely trajectory planning is essential, as it relies on preoperative CT imaging. Prolonged processing times increase the risk of patient movement, rendering the planned pat...
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MDPI AG
2025-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/7/2137 |
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| author | Jian Liu Shuai Kang Juan Ren Dongxia Zhang Bing Niu Kai Xu |
| author_facet | Jian Liu Shuai Kang Juan Ren Dongxia Zhang Bing Niu Kai Xu |
| author_sort | Jian Liu |
| collection | DOAJ |
| description | Optimal needle trajectory selection is critical in biopsy procedures to minimize tissue damage and ensure diagnostic accuracy. Timely trajectory planning is essential, as it relies on preoperative CT imaging. Prolonged processing times increase the risk of patient movement, rendering the planned path invalid. Traditional methods relying on clinician expertise or slow algorithms struggle with complex anatomical modeling for structures such as blood vessels. We introduce a novel method that reframes trajectory planning as an optimal puncture site identification problem by leveraging optical principles and computer rendering. A 3D model of key anatomical structures is reconstructed from CT images and segmented using SegResNet (average Dice similarity coefficient of 0.9122). A virtual light source positioned at the target illuminates the space, assigning distinct absorption coefficients to tissues based on needle permissibility and risk. Diffuse reflection simulates needle angle, and accumulated absorption represents depth, capturing puncture constraints. This simulation generates a grayscale map on the skin surface, highlighting candidate puncture sites. Furthermore, we employ a random forest-based method to model clinician preferences. This model analyzes an RGB image derived from the grayscale distribution to automatically select the optimal path and determine the needle entry point. The experimental evaluation demonstrates an average computation time of just 1.905 s per sample, which is significantly faster than traditional methods that require seconds to minutes. Moreover, clinical assessment by a thoracic surgeon found that 78% of the recommended paths met clinical standards, with 0% deemed unsatisfactory. These findings suggest that our method provides a rapid, intuitive, and reliable decision-support tool, improving biopsy safety and efficiency. |
| format | Article |
| id | doaj-art-72ad6c7cc09344d6acb301d1f0b376ea |
| institution | OA Journals |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-72ad6c7cc09344d6acb301d1f0b376ea2025-08-20T02:15:54ZengMDPI AGSensors1424-82202025-03-01257213710.3390/s25072137Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination PrinciplesJian Liu0Shuai Kang1Juan Ren2Dongxia Zhang3Bing Niu4Kai Xu5School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 201100, ChinaShanghai Simple Touch Technology Co., Ltd., Shanghai 201600, ChinaShanghai Simple Touch Technology Co., Ltd., Shanghai 201600, ChinaShanghai Simple Touch Technology Co., Ltd., Shanghai 201600, ChinaShanghai Simple Touch Technology Co., Ltd., Shanghai 201600, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 201100, ChinaOptimal needle trajectory selection is critical in biopsy procedures to minimize tissue damage and ensure diagnostic accuracy. Timely trajectory planning is essential, as it relies on preoperative CT imaging. Prolonged processing times increase the risk of patient movement, rendering the planned path invalid. Traditional methods relying on clinician expertise or slow algorithms struggle with complex anatomical modeling for structures such as blood vessels. We introduce a novel method that reframes trajectory planning as an optimal puncture site identification problem by leveraging optical principles and computer rendering. A 3D model of key anatomical structures is reconstructed from CT images and segmented using SegResNet (average Dice similarity coefficient of 0.9122). A virtual light source positioned at the target illuminates the space, assigning distinct absorption coefficients to tissues based on needle permissibility and risk. Diffuse reflection simulates needle angle, and accumulated absorption represents depth, capturing puncture constraints. This simulation generates a grayscale map on the skin surface, highlighting candidate puncture sites. Furthermore, we employ a random forest-based method to model clinician preferences. This model analyzes an RGB image derived from the grayscale distribution to automatically select the optimal path and determine the needle entry point. The experimental evaluation demonstrates an average computation time of just 1.905 s per sample, which is significantly faster than traditional methods that require seconds to minutes. Moreover, clinical assessment by a thoracic surgeon found that 78% of the recommended paths met clinical standards, with 0% deemed unsatisfactory. These findings suggest that our method provides a rapid, intuitive, and reliable decision-support tool, improving biopsy safety and efficiency.https://www.mdpi.com/1424-8220/25/7/2137biopsy path planningoptical accelerationmachine learningsegmentationgraphics processing unit (GPU) optimizationclinical evaluation |
| spellingShingle | Jian Liu Shuai Kang Juan Ren Dongxia Zhang Bing Niu Kai Xu Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles Sensors biopsy path planning optical acceleration machine learning segmentation graphics processing unit (GPU) optimization clinical evaluation |
| title | Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles |
| title_full | Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles |
| title_fullStr | Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles |
| title_full_unstemmed | Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles |
| title_short | Rapid Path Planning Algorithm for Percutaneous Rigid Needle Biopsy Based on Optical Illumination Principles |
| title_sort | rapid path planning algorithm for percutaneous rigid needle biopsy based on optical illumination principles |
| topic | biopsy path planning optical acceleration machine learning segmentation graphics processing unit (GPU) optimization clinical evaluation |
| url | https://www.mdpi.com/1424-8220/25/7/2137 |
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